CN113335916B - Mechanical automation snatchs equipment - Google Patents
Mechanical automation snatchs equipment Download PDFInfo
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- CN113335916B CN113335916B CN202110634479.4A CN202110634479A CN113335916B CN 113335916 B CN113335916 B CN 113335916B CN 202110634479 A CN202110634479 A CN 202110634479A CN 113335916 B CN113335916 B CN 113335916B
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- electric telescopic
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- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
Abstract
The invention discloses mechanical automatic grabbing equipment which comprises a bottom plate, a detector and first electric telescopic rods, wherein the detector is installed at the top of the bottom plate, a plurality of groups of first electric telescopic rods are installed on the bottom wall of the bottom plate, a signal emitter is installed on the bottom wall of the detector, a signal receiver is installed on the bottom wall of the detector, an emitting column is installed at the top of the detector, a weight sensor is installed at the top of each first electric telescopic rod, and two groups of magnets are installed at the top of a movable plate. The article can be straightened by installing the detector and the adjusting block, when the direction of the article is correct, the article can not shield signals, when the article is placed and deviated, the article shields the signals, and simultaneously the signals are reflected to the signal receiver, the signal receiver controls the electromagnet to be electrified after receiving the signals, the first electric telescopic rod extends to jack up the article, and the adjusting blocks are close to each other to straighten the article, so that the straightening function is realized.
Description
Technical Field
The invention relates to the technical field of grabbing equipment, in particular to mechanical automatic grabbing equipment.
Background
In the modernization production process, mechanical automation's equipment has replaced the manpower gradually, and mechanical automation's development has improved production efficiency greatly, often need use in the production process and snatch equipment, snatch equipment as the name suggests and be the equipment that is used for snatching the mechanization of product, snatch equipment and can be according to the different structure of snatching of product design usually.
The existing mechanical automatic grabbing equipment has the following defects:
1. the reference CN112171696A discloses a mechanical automated grabbing structure, a manipulator and a manufacturing device, where the protection right "the mechanical automated grabbing structure includes a receiving base and two clamping jaws sliding on the receiving base and oppositely disposed, and the clamping jaws are connected to a telescopic assembly mounted on the receiving base through a movable member disposed in a movable cavity on the receiving base; still articulated on the clamping jaw have a movable jaw, the movable jaw pass through drive assembly with the moving part is connected, works as flexible subassembly passes through moving part drive two when the clamping jaw moves in opposite directions, the movable jaw follows the clamping jaw motion just the movable jaw self takes place to rotate. The article clamping device is novel in design, the movable claws are driven to rotate through the transmission assembly while the articles are clamped through the arranged clamping jaws, so that the articles are received, the articles can be effectively prevented from falling off, the clamping effect is good, articles of different specifications can be clamped, and the practicability is high;
2. The reference CN106467181B discloses a grabbing device, and the right item for protection "includes a frame, a first fixing slot and a second fixing slot are arranged in the frame in parallel, a first driving device and a second driving device are arranged between the first fixing slot and the second fixing slot, a sliding device is arranged at the bottom end of the first fixing slot, a sliding rail is arranged on the frame, and the sliding device moves on the sliding rail under the action of the first driving device and the second driving device, so as to complete the gathering and separating processes of the first fixing slot and the second fixing slot; a first synchronous belt and a second synchronous belt are respectively arranged on the first fixing groove and the second fixing groove, the side edges of the first fixing groove and the second fixing groove are respectively connected and provided with a first mechanical grabbing component group and a second mechanical grabbing component group, and the first synchronous belt and the second synchronous belt are respectively driven by a third driving device and a fourth driving device to drive the first mechanical grabbing component group and the second mechanical grabbing component group to move; the grabbing equipment is further provided with a fifth driving device which drives the grabbing equipment to move up and down. The grabbing equipment provided by the invention realizes the effect of grouping the products in columns, but the products lack a structure for detecting and classifying the articles, and the products contain qualified products, so that the products need to be distinguished and placed respectively;
3. The comparison document CN111571625A discloses industrial grabbing mechanical equipment, the right item of protection comprises a fixed column, the bottom end of a bottom rod is fixedly connected with an installation seat, two sides of the installation seat are respectively provided with an installation groove, a clamping arm is rotatably connected in the installation groove, the bottom end of the clamping arm is fixedly connected with a clamping block, the top end of the clamping arm is fixedly connected with a first connecting seat, two sides of the bottom rod are respectively fixedly connected with a fixed seat, the bottom end of the fixed seat is rotatably connected with a first hydraulic telescopic rod, the telescopic end of the first hydraulic telescopic rod is rotatably connected with the first connecting seat, two sides of the installation seat are respectively provided with a comprehensive protection device, the industrial grabbing mechanical equipment can clamp a workpiece by arranging the first hydraulic telescopic rod and the clamping arm, the workpiece which slides down in the clamping process can be received by arranging an arc-shaped cover plate and a second hydraulic telescopic rod, the workpiece can be prevented from falling and being damaged, and gas-liquid selective injection can be realized by arranging a gas-liquid injection device, the work piece to in the centre gripping is blown the edulcoration and is washed, and is good to the centre gripping treatment effect of work piece ", but current equipment of snatching lacks the function that anti-drop, protection product that can not be fine.
Disclosure of Invention
The invention aims to provide mechanical automatic grabbing equipment to solve the problems of lack of a straightening structure, a detection and classification structure and a protection structure in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the mechanical automatic grabbing equipment comprises a bottom plate, a detector and first electric telescopic rods, wherein the detector is installed at the top of the bottom plate, a plurality of groups of first electric telescopic rods are installed on the bottom wall of the inner portion of the bottom plate, and the tops of the first electric telescopic rods extend out of the top of the bottom plate;
the detector comprises a bottom plate, a signal emitter, a signal receiver, a transmission column, a spring, an electromagnet and a signal receiver, wherein the bottom wall inside the detector is provided with the signal emitter, the bottom wall inside the detector is provided with the signal receiver, the signal receiver is positioned on one side of the signal emitter, the top of the detector is provided with the transmission column, the top wall inside the bottom plate is provided with the spring, the bottom of the spring is provided with the electromagnet, and the electromagnet is electrically connected with the signal receiver through a wire;
weight sensor is installed at first electric telescopic handle's top, the control post is installed to the inside diapire of bottom plate, there is the fly leaf at the top of control post through the rotation axis connection.
Preferably, two sets of vertical plates are installed on the top of the bottom plate, a first motor is installed on the outer wall of each vertical plate, the output end of the first motor extends into the vertical plate, a belt is installed around the output end of the first motor, a plurality of sets of rolling shafts are installed inside the vertical plates, one end of each rolling shaft is connected with the outer wall of the other vertical plate, the rolling shafts are connected with the output end of the first motor through the belt in a transmission manner, a control panel is installed on the outer wall of each vertical plate, a protective shell is installed on the outer wall of each vertical plate, a second electric telescopic rod is installed on the inner wall of each protective shell, one end of each second electric telescopic rod extends out of the outer wall of each vertical plate, an L-shaped adjusting block is installed at one end of each second electric telescopic rod, two sets of collecting boxes are installed on the back of the bottom plate, a control box is installed on the top of each vertical plate, a first threaded rod is installed on the outer wall of the control box, and a threaded sleeve is installed on the outer wall of the first threaded rod, the backup pad is installed to the outer wall of thread bush, and the bottom of backup pad has the fixed plate through the hub connection, and third electric telescopic handle is installed to the bottom of fixed plate, and there is the pole that snatchs of L type bottom of fixed plate through the hub connection, and the one end of snatching the pole is installed and is grabbed the ware, and the second motor is installed to the outer wall of riser, and the output of second motor extends into the inside of riser.
Preferably, the third motor is installed to the inside diapire of control box, and the output of third motor is connected with the one end of first threaded rod, and fourth electric telescopic handle is installed to the inner wall of control box, and electrically conductive slide bar is installed to fourth electric telescopic handle's outer wall, and circuit control panel is installed to the inside diapire of control box, and circuit control panel is located one side of third motor, and the collets are installed at circuit control panel's top.
Preferably, the top of the supporting plate is provided with a sliding groove, the rear wall of the inner portion of the supporting plate is provided with a gear groove, the top of the sliding groove is provided with a fourth motor, the output end of the fourth motor extends into the inner portion of the fixing plate, the output end of the fourth motor is provided with a fixed gear, and the fixed gear is meshed with the gear groove.
Preferably, the outer wall of the third electric telescopic rod is connected with two groups of telescopic columns through shafts, and the inner wall of the third electric telescopic rod is provided with a control chip.
Preferably, the fifth motor is installed to the inner wall of grabber, and the axis of rotation is installed to the output of fifth motor, and the one end of axis of rotation and the opposite side inner wall connection of grabber, and the outer wall of grabber is equipped with the trompil, and the outer wall of axis of rotation encircles and installs a plurality of rubber blocks.
Preferably, the detection spring is installed on the inside diapire of collecting box, and the pick-up plate is installed at the top of detection spring, and the conducting rod is installed to the bottom of pick-up plate, and the electrically conductive groove is installed to the inside diapire of collecting box, and electrically conductive groove is located one side of detecting the spring, and bee calling organ is installed to the inside diapire of collecting box, and bee calling organ is located one side of electrically conductive groove, and bee calling organ passes through wire electric connection with electrically conductive groove.
Preferably, a second threaded rod is installed at the output end of the second motor, a blocking plate is installed on the outer wall of the second threaded rod, an auxiliary rod is installed on the outer wall of the vertical plate, the auxiliary rod is located on one side of the second threaded rod, and one end of the blocking plate is movably connected with the outer wall of the auxiliary rod.
Preferably, two sets of magnets are installed at the top of the movable plate, two sets of L-shaped limiting rods are installed on the outer wall of the control column, and the tops of the limiting rods are in contact with the bottom of the movable plate.
Preferably, the working steps of the device are as follows:
s1, placing an article on a rolling shaft, starting a first motor, driving a belt to rotate by the first motor, driving other rolling shafts by the belt, driving the article to move by the rolling shafts, transmitting a signal by a signal transmitter through a transmitting column, when the direction of the article is correct, the article does not block the signal, when the article placement deviates from the article blocking signal, meanwhile, the signal is reflected back to the signal receiver, the signal receiver controls the electromagnet to be electrified after receiving the signal, the electromagnet is contacted with the magnet, the first electric telescopic rod extends to jack up the object, meanwhile, the second electric telescopic rod extends, the second electric telescopic rod drives the adjusting blocks to be close to each other, the adjusting blocks are used for righting the articles in an extrusion mode, the second electric telescopic rod is shortened after the righting, the weight sensor is used for detecting the weight of the articles during the righting, the articles with unqualified quality can be jacked up by the first electric telescopic rod, and the functions of righting and detecting the articles are realized;
S2, after the object is placed, a third motor rotates to drive a first threaded rod to rotate, the first threaded rod drives a threaded sleeve to move, the threaded sleeve moves to drive a supporting plate to move, when the grabber moves right above the object, a third electric telescopic rod is shortened, a telescopic column contracts and simultaneously rotates upwards, the grabbing rods are close to each other, the grabber is in contact with the object, then a fifth motor rotates to drive a rotating shaft to rotate, the rotating shaft drives a rubber block to rotate, the object is clamped by the rubber block, and the grabbing function is achieved;
s3, after grabbing is finished, the fourth electric telescopic rod extends the conductive sliding rod to move, the third motor rotates reversely to drive the articles to move to the upper side of the collecting box, the control chip controls the third electric telescopic rod to extend, the grabbing rods are far away from each other, and the articles fall into the collecting box;
s4, the good article of quality and the relatively poor article of quality are collected respectively to two sets of collecting boxes, and when the article piled up weight too much, the detection spring shrink, and the pick-up plate drove the conducting rod and moves down, and the conducting rod contacts with the conducting groove afterwards, and buzzer sound warns, reminds the staff to take out article.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can align the object by installing a detector and an adjusting block, place the object on a rolling shaft, start a first motor, the first motor drives a belt to rotate, the belt drives other rolling shafts, the rolling shaft drives the object to move, a signal emitter emits a signal through an emission post, when the object is in correct direction, the object can not shield the signal, when the object is placed and deviated from the object shielding signal, the signal is reflected back to a signal receiver, the signal receiver receives the signal and controls an electromagnet to be electrified, the electromagnet is contacted with the magnet, the first electric telescopic rod extends to jack the object, the second electric telescopic rod extends, the second electric telescopic rod drives the adjusting blocks to approach each other, the adjusting blocks align the object by extrusion, the second electric telescopic rod shortens after aligning, a weight sensor detects the weight of the object when aligning, the object with unqualified quality can be jacked by the first electric telescopic rod, the functions of article straightening and detection are realized;
2. According to the invention, products with different qualities can be classified by installing the weight sensor and the controller, the weight sensor transmits signals to the controller and the control chip after detecting the weight of the articles, after grabbing is completed, the fourth electric telescopic rod extends to move the conductive sliding rod, the third motor rotates reversely to drive the articles to move to the upper part of the collecting boxes, the control chip controls the third electric telescopic rod to extend, the grabbing rods are far away from each other, the articles fall into the collecting boxes, two groups of collecting boxes respectively collect articles with good quality and articles with poor quality, when the articles are stacked to be heavy, the detection spring contracts, the detecting plate drives the conductive rods to move downwards, then the conductive rods are contacted with the conductive grooves, and the buzzer gives out a sound to warn to remind a worker to take out the articles;
3. when the grabbed objects fall, the second motor drives the second threaded rod to rotate, meanwhile, the blocking plate moves to the position below the grabber, the objects can fall onto the blocking plate, the objects are prevented from falling from a high position and being damaged, and the auxiliary rod can assist the blocking plate to move.
Drawings
FIG. 1 is a schematic view of the external structure of the present invention;
FIG. 2 is a schematic view of the connection relationship between the first motor and the rolling shaft according to the present invention;
FIG. 3 is a schematic view of the construction of a first electrically powered telescoping rod portion of the present invention;
FIG. 4 is a schematic view of the structure of part A of FIG. 3 according to the present invention;
FIG. 5 is a schematic view of a portion of the collection chamber of the present invention;
FIG. 6 is a schematic view of a part of the control box according to the present invention;
FIG. 7 is a front view of the support plate of the present invention;
fig. 8 is a schematic view of a portion of the gripper of the present invention.
In the figure: 1. a base plate; 101. a vertical plate; 102. a first motor; 103. a control panel; 104. a belt; 105. a roll axis; 2. a detector; 201. a signal transmitter; 202. a signal receiver; 203. a spring; 204. an electromagnet; 3. a first electric telescopic rod; 301. a weight sensor; 302. a control column; 303. a movable plate; 304. a limiting rod; 305. a magnet; 4. a control box; 401. a third motor; 402. a first threaded rod; 403. a fourth electric telescopic rod; 404. a circuit control board; 405. an insulating block; 5. a support plate; 501. a chute; 502. a fourth motor; 503. a gear groove; 504. fixing a gear; 505. a fixing plate; 6. a third electric telescopic rod; 601. a control chip; 602. a telescopic column; 603. a grabbing rod; 7. a gripper; 701. a fifth motor; 702. a rubber block; 8. a collection box; 801. detecting a spring; 802. detecting a plate; 803. a conductive slot; 804. a conductive rod; 805. a buzzer; 9. a second motor; 901. a second threaded rod; 10. and adjusting the block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-8, an embodiment of the present invention is shown: a mechanical automatic grabbing device comprises a bottom plate 1, a detector 2 and a first electric telescopic rod 3, wherein the detector 2 is installed at the top of the bottom plate 1, the bottom plate 1 can support a top device to realize a supporting function, the detector 2 can detect the placement position of an article to realize a detecting function, a plurality of groups of first electric telescopic rods 3 are installed on the bottom wall of the inner portion of the bottom plate 1, the top of the first electric telescopic rods 3 extends out of the top of the bottom plate 1, and the first electric telescopic rods 3 can jack up the article so as to align the article;
the signal emitter 201 is installed on the inner bottom wall of the detector 2, the signal receiver 202 is located on one side of the signal emitter 201, an emitting column is installed on the top of the detector 2, a spring 203 is installed on the inner top wall of the bottom plate 1, an electromagnet 204 is installed at the bottom of the spring 203, the electromagnet 204 is electrically connected with the signal receiver 202 through a conducting wire, the signal emitter 201 emits signals through the emitting column, when the direction of an object is correct, the object cannot shield the signals, when the object is placed and deviates, the object shields the signals, meanwhile, the signals are reflected back to the signal receiver 202, the signal receiver 202 controls the electromagnet 204 to be electrified after receiving the signals, the electromagnet 204 is in contact with the magnet 305, the first electric telescopic rod 3 extends to jack up the object, and the function of detecting the placing position of the object is achieved;
Further, two sets of vertical plates 101 are installed on the top of the bottom plate 1, a first motor 102 is installed on the outer wall of each vertical plate 101, the output end of each first motor 102 extends into the corresponding vertical plate 101, a belt 104 is installed around the output end of each first motor 102, a plurality of sets of rolling shafts 105 are installed inside each vertical plate 101, one end of each rolling shaft 105 is connected with the outer wall of the other vertical plate 101, the rolling shafts 105 are in transmission connection with the output end of each first motor 102 through the belts 104, a control panel 103 is installed on the outer wall of each vertical plate 101, a protective shell is installed on the outer wall of each vertical plate 101, a second electric telescopic rod is installed on the inner wall of each protective shell, one end of each second electric telescopic rod extends out of the outer wall of each vertical plate 101, an L-shaped adjusting block 10 is installed at one end of each second electric telescopic rod, two sets of collecting boxes 8 are installed on the back of the bottom plate 1, a control box 4 is installed on the top of each vertical plate 101, a first threaded rod 402 is installed on the outer wall of each control box 4, the outer wall of the first threaded rod 402 is provided with a threaded sleeve, the outer wall of the threaded sleeve is provided with a supporting plate 5, the bottom of the supporting plate 5 is connected with a fixing plate 505 through a shaft, the bottom of the fixing plate 505 is provided with a third electric telescopic rod 6, the bottom of the fixing plate 505 is connected with an L-shaped grabbing rod 603 through a shaft, one end of the grabbing rod 603 is provided with a grabber 7, the outer wall of the vertical plate 101 is provided with a second motor 9, the output end of the second motor 9 extends into the vertical plate 101, when an article is conveyed, the first motor 102 is started, the first motor 102 drives the belt 104 to rotate, the belt 104 drives the rolling shaft 105 to rotate, the rolling shaft 105 drives the article to move forwards, the function of conveying the article is realized, the vertical plate 101 can be conveniently provided with devices such as the first motor 102, the control panel 103 can control the working state of the whole device, the control function is realized, and the protective shell can protect the second electric telescopic rod inside, realize protect function, when article are put, start second electric telescopic handle, second electric telescopic handle drives adjusting block 10 and is close to each other, adjusting block 10 extrudes article and puts, realize putting the function, collecting box 8 can collect article, realize collecting the function, control box 4 can control the positive and negative rotation of third motor 401, realize the control action, first threaded rod 402 can conveniently drive backup pad 5 and remove, backup pad 5 can support the fourth motor 502 at top, fixed plate 505 can be easy to assemble and snatch pole 603, it can conveniently snatch article to snatch pole 603, third electric telescopic handle 6 can control opening and closing of grabbing pole 603, grabber 7 can snatch article, can also prevent article from dropping simultaneously.
Further, a third motor 401 is installed on the bottom wall inside the control box 4, the output end of the third motor 401 is connected with one end of the first threaded rod 402, a fourth electric telescopic rod 403 is installed on the inner wall of the control box 4, a conductive slide rod is installed on the outer wall of the fourth electric telescopic rod 403, a circuit control board 404 is installed on the bottom wall inside the control box 4, the circuit control board 404 is located on one side of the third motor 401, an insulating block 405 is installed on the top of the circuit control board 404, when the third motor 401 is controlled to rotate forward and backward, the fourth electric telescopic rod 403 is started, the fourth electric telescopic rod 403 is extended, the conductive slide rod moves on the circuit control board 404, two groups of conductive strips are installed on the top of the circuit control board 404 and are respectively connected with the positive pole and the negative pole of the power source, when the conductive slide rod moves to the positive pole of the power source, the third motor 401 rotates forward, otherwise, the third motor 401 turns over, and when the third motor 401 stops, the conductive sliding rod moves onto the insulating block 405 to disconnect a circuit, so that the function of controlling the forward and reverse rotation of the third motor 401 is realized, when the third motor 401 rotates forward, the first threaded rod 402 is driven to rotate, the threaded sleeve drives the supporting plate 5 to move forward, and otherwise, the supporting plate 5 moves backward.
Further, the top of the supporting plate 5 is provided with a sliding groove 501, a gear groove 503 is formed in the inner rear wall of the supporting plate 5, a fourth motor 502 is installed at the top of the sliding groove 501, the output end of the fourth motor 502 extends into the fixing plate 505, a fixed gear 504 is installed at the output end of the fourth motor 502, the fixed gear 504 is meshed with the gear groove 503, the fourth motor 502 rotates the fixed gear 504 to rotate in the gear groove 503, the gear groove 503 reacts on the fourth motor 502, the fourth motor 502 moves left and right, meanwhile, the fourth motor 502 drives the fixing plate 505 to move, the fixing plate 505 drives the grabbing rod 603 to move, the flexibility of the grabbing rod 603 is increased, and the sliding groove 501 can facilitate the fourth motor 502 to move.
Further, the outer wall of third electric telescopic handle 6 is connected with two sets of flexible post 602 through the hub, control chip 601 is installed to the inner wall of third electric telescopic handle 6, control chip 601 can control the extension of third electric telescopic handle 6 and shorten, realize the control action, the extension of third electric telescopic handle 6 snatchs pole 603 and keeps away from each other, third electric telescopic handle 6 contracts, it is close to each other to snatch pole 603, the realization is snatched the function, flexible post 602 can conveniently stretch out and draw back thereupon when third electric telescopic handle 6 is flexible.
Further, fifth motor 701 is installed to the inner wall of grabber 7, the axis of rotation is installed to the output of fifth motor 701, and the one end of axis of rotation and grabber 7's opposite side inner wall connection, grabber 7's outer wall is equipped with the trompil, a plurality of rubber blocks 702 are installed around the outer wall of axis of rotation, when snatching, article are located the top of rubber block 702, fifth motor 701 starts, the axis of rotation drives rubber block 702 and rotates, rubber block 702 drives article rebound, rubber block 702 always makes article upwards roll snatching in-process rubber block 702, article can not the rebound, realize the function of preventing dropping.
Further, a detection spring 801 is installed on the bottom wall inside the collection box 8, a detection plate 802 is installed on the top of the detection spring 801, a conductive rod 804 is installed on the bottom of the detection plate 802, a conductive groove 803 is installed on the bottom wall inside the collection box 8, the conductive groove 803 is located on one side of the detection spring 801, a buzzer 805 is installed on the bottom wall inside the collection box 8, the buzzer 805 is located on one side of the conductive groove 803, the conductive groove 803 is electrically connected with the buzzer 805 through a conducting wire, the two groups of collection boxes 8 collect good-quality articles and poor-quality articles respectively, when the articles are stacked to be too heavy, the detection spring 801 contracts, the detection plate 802 drives the conductive rod 804 to move downwards, then the conductive rod 804 is in contact with the conductive groove 803, and the buzzer 805 gives out a sound to warn to remind a worker to take out the articles.
Further, second threaded rod 901 is installed to the output of second motor 9, the barrier plate is installed to the outer wall of second threaded rod 901, the auxiliary rod is installed to the outer wall of riser 101, and the auxiliary rod is located one side of second threaded rod 901, the one end of barrier plate and the outer wall swing joint of auxiliary rod, when the article that is snatched takes place to drop, second motor 9 drives second threaded rod 901 and rotates, the barrier plate removes to the below of snatching ware 7 simultaneously, article can drop on the barrier plate, prevent that article from dropping and damaging from the eminence, realize the protect function to the product, the auxiliary rod can assist the barrier plate to remove.
Further, two sets of magnets 305 are installed at the top of the movable plate 303, two sets of L-shaped limiting rods 304 are installed on the outer wall of the control column 302, the top of each limiting rod 304 is in contact with the bottom of the movable plate 303, the magnets 305 and the electromagnets 204 interact to enable the circuits to be communicated, the first electric telescopic rod 3 extends to jack up the articles, and the limiting rods 304 can prevent the movable plate 303 from rotating downwards at a large angle, so that the limiting function is realized.
Further, the working steps of the device are as follows:
s1, placing an article on a rolling shaft 105, starting a first motor 102, driving a belt 104 to rotate by the first motor 102, driving other rolling shafts 105 by the belt 104, driving the article to move by the rolling shaft 105, transmitting a signal by a signal transmitter 201 through a transmitting column, when the direction of the article is correct, the article does not shield the signal, when the article is placed with a deviated article shielding signal, reflecting the signal back to a signal receiver 202, receiving the signal by the signal receiver 202, controlling an electromagnet 204 to be electrified, the electromagnet 204 to be in contact with a magnet 305, extending a first electric telescopic rod 3 to jack up the article, extending a second electric telescopic rod, driving adjusting blocks 10 to be close to each other by the second electric telescopic rod, aligning the article by an adjusting block 10 in an extrusion manner, shortening the second electric telescopic rod after aligning, detecting the weight of the article by a weight sensor 301 during aligning, and jacking up the article with unqualified quality by the first electric telescopic rod 3, the functions of article straightening and detection are realized;
S2, after the object is placed, the third motor 401 rotates to drive the first threaded rod 402 to rotate, the first threaded rod 402 drives the threaded sleeve to move, the threaded sleeve moves to drive the supporting plate 5 to move, when the grabber 7 moves to be right above the object, the third electric telescopic rod 6 is shortened, the telescopic column 602 contracts and simultaneously rotates upwards, the grabbing rods 603 are close to each other, the grabber 7 is in contact with the object, then the fifth motor 701 rotates to drive the rotating shaft to rotate, the rotating shaft drives the rubber block 702 to rotate, the object is clamped by the rubber block 702, and the grabbing function is achieved;
s3, after grabbing, extending the conductive sliding rod to move by the fourth electric telescopic rod 403, reversely rotating the third motor 401 to drive the articles to move to the upper side of the collecting box 8, controlling the third electric telescopic rod 6 to extend by the control chip 601, keeping the grabbing rods 603 away from each other, and enabling the articles to fall into the collecting box 8;
s4, the two groups of collecting boxes 8 respectively collect good-quality articles and poor-quality articles, when the articles are stacked to be too heavy, the detection spring 801 contracts, the detection plate 802 drives the conductive rod 804 to move downwards, then the conductive rod 804 is in contact with the conductive groove 803, and the buzzer 805 gives out a sound to warn to remind a worker to take out the articles.
The working principle is that firstly, articles are placed on the rolling shafts 105, the first motor 102 is started, the first motor 102 drives the belt 104 to rotate, the belt 104 drives other rolling shafts 105, the rolling shafts 105 drive the articles to move, the signal emitter 201 emits a signal through the emission column, when the direction of the articles is correct, the articles do not shield the signal, when the articles are placed with offset article shielding signals, the signal is reflected back to the signal receiver 202, the signal receiver 202 receives the signal and then controls the electromagnet 204 to be electrified, the electromagnet 204 is in contact with the magnet 305, the first electric telescopic rod 3 extends to jack the articles, meanwhile, the second electric telescopic rod extends, the second electric telescopic rod drives the adjusting blocks 10 to approach each other, the adjusting blocks 10 straighten the articles in an extrusion mode, the second electric telescopic rod shortens after straightening, when straightening, the weight sensor 301 detects the weight of the articles, the articles with unqualified quality can also be jacked by the first electric telescopic rod 3, the functions of article alignment and detection are realized, after the article is aligned, the third motor 401 rotates to drive the first threaded rod 402 to rotate, the first threaded rod 402 drives the threaded sleeve to move, the threaded sleeve moves to drive the support plate 5 to move, when the grabber 7 moves to a position right above the article, the third electric telescopic rod 6 is shortened, the telescopic column 602 contracts and simultaneously rotates upwards, the grabbing rods 603 are close to each other, the grabber 7 is in contact with the article, then the fifth motor 701 rotates to drive the rotating shaft to rotate, the rotating shaft drives the rubber block 702 to rotate, the article is clamped by the rubber block 702 to realize the grabbing function, after grabbing is completed, the fourth electric telescopic rod 403 extends to move the conductive sliding rod, the third motor 401 rotates reversely, the article is driven to move to a position above the collecting box 8, the control chip 601 controls the third electric telescopic rod 6 to extend, the grabbing rods 603 are far away from each other, the article falls into the collecting box 8, the last two groups of collecting boxes 8 respectively collect good-quality articles and poor-quality articles, when the articles are stacked to be too heavy, the detection spring 801 contracts, the detection plate 802 drives the conductive rod 804 to move downwards, then the conductive rod 804 is in contact with the conductive groove 803, and the buzzer 805 gives out a sound to warn to remind a worker to take out the articles.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (1)
1. The use method of the mechanical automatic grabbing equipment is characterized by comprising the steps of mechanically automatically grabbing the equipment, wherein the equipment comprises a bottom plate (1), a detector (2) and a first electric telescopic rod (3), and is characterized in that: the detector (2) is installed at the top of the bottom plate (1), a plurality of groups of first electric telescopic rods (3) are installed on the bottom wall of the interior of the bottom plate (1), and the tops of the first electric telescopic rods (3) extend out of the top of the bottom plate (1); a signal emitter (201) is installed on the inner bottom wall of the detector (2), a signal receiver (202) is installed on the inner bottom wall of the detector (2), the signal receiver (202) is located on one side of the signal emitter (201), an emitting column is installed at the top of the detector (2), a spring (203) is installed on the inner top wall of the bottom plate (1), an electromagnet (204) is installed at the bottom of the spring (203), and the electromagnet (204) is electrically connected with the signal receiver (202) through a conducting wire; the weight sensor (301) is installed at the top of the first electric telescopic rod (3), the control column (302) is installed on the bottom wall inside the bottom plate (1), the top of the control column (302) is connected with the movable plate (303) through the rotating shaft, two groups of vertical plates (101) are installed at the top of the bottom plate (1), the first motor (102) is installed on the outer wall of each vertical plate (101), the output end of the first motor (102) extends into the vertical plate (101), the belt (104) is installed around the output end of the first motor (102), a plurality of groups of rolling shafts (105) are installed inside the vertical plates (101), one end of each rolling shaft (105) is connected with the outer wall of the other vertical plate (101), the rolling shafts (105) are in transmission connection with the output end of the first motor (102) through the belt (104), the control panel (103) is installed on the outer wall of each vertical plate (101), and the protective shell is installed on the outer wall of each vertical plate (101), a second electric telescopic rod is installed on the inner wall of the protective shell, one end of the second electric telescopic rod extends out of the outer wall of the vertical plate (101), an L-shaped adjusting block (10) is installed at one end of the second electric telescopic rod, two groups of collecting boxes (8) are installed on the back face of the bottom plate (1), a control box (4) is installed at the top of the vertical plate (101), a first threaded rod (402) is installed on the outer wall of the control box (4), a threaded sleeve is installed on the outer wall of the first threaded rod (402), a supporting plate (5) is installed on the outer wall of the threaded sleeve, a fixing plate (505) is connected to the bottom of the supporting plate (5) through a shaft, a third electric telescopic rod (6) is installed at the bottom of the fixing plate (505), an L-shaped grabbing rod (603) is connected to the bottom of the fixing plate (505) through a shaft, a grabber (7) is installed at one end of the grabbing rod (603), and a second motor (9) is installed on the outer wall of the vertical plate (101), and the output end of the second motor (9) extends into the interior of the vertical plate (101), the bottom wall of the interior of the control box (4) is provided with a third motor (401), the output end of the third motor (401) is connected with one end of the first threaded rod (402), the inner wall of the control box (4) is provided with a fourth electric telescopic rod (403), the outer wall of the fourth electric telescopic rod (403) is provided with a conductive sliding rod, the bottom wall of the interior of the control box (4) is provided with a circuit control board (404), the circuit control board (404) is positioned at one side of the third motor (401), the top of the circuit control board (404) is provided with an insulating block (405), the top of the support plate (5) is provided with a sliding groove (501), the rear wall of the interior of the support plate (5) is provided with a gear groove (503), the top of the sliding groove (501) is provided with a fourth motor (502), and the output end of the fourth motor (502) extends into the interior of the fixing plate (505), the output end of a fourth motor (502) is provided with a fixed gear (504), the fixed gear (504) is meshed with a gear groove (503), the outer wall of a third electric telescopic rod (6) is connected with two groups of telescopic columns (602) through a shaft, the inner wall of the third electric telescopic rod (6) is provided with a control chip (601), the inner wall of a grabber (7) is provided with a fifth motor (701), the output end of the fifth motor (701) is provided with a rotating shaft, one end of the rotating shaft is connected with the inner wall of the other side of the grabber (7), the outer wall of the grabber (7) is provided with an opening, the outer wall of the rotating shaft is provided with a plurality of rubber blocks (702) in a surrounding manner, a detection spring (801) is arranged on the inner bottom wall of a collection box (8), a detection plate (802) is arranged at the top of the detection spring (801), a conductive rod (804) is arranged at the bottom of the detection plate (802), and a conductive groove (803) is arranged on the inner bottom wall of the collection box (8), the conductive groove (803) is located on one side of the detection spring (801), the buzzer (805) is installed on the bottom wall inside the collection box (8), the buzzer (805) is located on one side of the conductive groove (803), the buzzer (805) is electrically connected with the conductive groove (803) through a lead, a second threaded rod (901) is installed at the output end of the second motor (9), a blocking plate is installed on the outer wall of the second threaded rod (901), an auxiliary rod is installed on the outer wall of the vertical plate (101) and located on one side of the second threaded rod (901), one end of the blocking plate is movably connected with the outer wall of the auxiliary rod, two groups of magnets (305) are installed at the top of the movable plate (303), two groups of L-shaped limiting rods (304) are installed on the outer wall of the control column (302), and the top of the limiting rods (304) is in contact with the bottom of the movable plate (303);
The using method comprises the following steps:
s1, articles are placed on rolling shafts (105), a first motor (102) is started, the first motor (102) drives a belt (104) to rotate, the belt (104) drives other rolling shafts (105), the rolling shafts (105) drive the articles to move, a signal emitter (201) emits signals through an emission column, when the direction of the articles is correct, the articles do not shield the signals, when the articles are placed with offset articles to shield the signals, the signals are reflected back to a signal receiver (202), the signal receiver (202) receives the signals and then controls an electromagnet (204) to be electrified, the electromagnet (204) is in contact with a magnet (305), a first electric telescopic rod (3) extends to jack the articles, a second electric telescopic rod extends, the second electric telescopic rod drives adjusting blocks (10) to be close to each other, the adjusting blocks (10) straighten the articles in an extrusion mode, and the second electric telescopic rod shortens after straightening, the weight sensor (301) detects the weight of the article during the swinging, and the article with unqualified quality can be jacked up by the first electric telescopic rod (3) to realize the functions of straightening and detecting the article;
s2, after the object is straightened, a third motor (401) rotates to drive a first threaded rod (402) to rotate, the first threaded rod (402) drives a threaded sleeve to move, the threaded sleeve moves to drive a supporting plate (5) to move, when a grabber (7) moves right above the object, a third electric telescopic rod (6) is shortened, a telescopic column (602) contracts and simultaneously rotates upwards, the grabbing rods (603) are close to each other, the grabber (7) is in contact with the object, then a fifth motor (701) rotates to drive a rotating shaft to rotate, the rotating shaft drives a rubber block (702) to rotate, the object is clamped by the rubber block (702), and the grabbing function is realized;
S3, after grabbing, extending the conductive sliding rod to move by the fourth electric telescopic rod (403), reversely rotating the third motor (401), driving the articles to move to the upper side of the collecting box (8), controlling the third electric telescopic rod (6) to extend by the control chip (601), keeping the grabbing rods (603) away from each other, and enabling the articles to fall into the collecting box (8);
s4, the two groups of collecting boxes (8) collect good-quality articles and poor-quality articles respectively, when the articles are stacked to be too heavy, the detection spring (801) contracts, the detection plate (802) drives the conductive rod (804) to move downwards, then the conductive rod (804) is in contact with the conductive groove (803), and the buzzer (805) gives out a sound to warn to remind a worker to take out the articles.
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| CN114044192B (en) * | 2021-11-17 | 2022-12-20 | 北京艾莱发喜食品有限公司 | Intelligent automatic ice cream packaging mechanical device |
| TWI819541B (en) * | 2022-03-24 | 2023-10-21 | 鴻鉑科技有限公司 | A robotic arm loading and unloading control system and method |
| CN114852672B (en) * | 2022-05-20 | 2023-08-01 | 江苏洛柳精密科技有限公司 | Robot clamp with anti-drop protection |
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